Related papers: Robust Estimation and Control for Heterogeneous Mu…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
In this paper, we propose a distributed state-and-fault estimation scheme for multi-agent systems. The proposed estimator is based on an $\ell_1$-norm optimization problem, which is inspired by sparse signal recovery in the field of…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
A problem of distributed state estimation at multiple agents that are physically connected and have competitive interests is mapped to a distributed source coding problem with additional privacy constraints. The agents interact to estimate…
This paper studies static state estimation in multi-sensor settings, with a caveat that an unknown subset of the sensors are compromised by an adversary, whose measurements can be manipulated arbitrarily. The attacker is able to compromise…
This paper proposes distributed omniscient observers for both heterogeneous and homogeneous linear multi-agent systems, such that each agent can correctly estimate the states of all agents. The observer design is based on local input-output…
Distributed dynamic compensators, also known as distributed observer, play a key role in the output consensus problem of heterogeneous nonlinear multi-agent systems. However, most existing distributed dynamic compensators require either the…
Digital controller design for nonlinear systems may be complicated by the fact that an exact discrete-time plant model is not known. One existing approach employs approximate discrete-time models for stability analysis and control design,…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
The paper deals with the problem of distributed fault detection and isolation (FDI) for a group of heterogeneous multi-agent systems. The developed formation for the FDI is taken into account as a distributed observer design methodology,…
In this paper, a new yet indirect performance guaranteed framework is established to address the distributed tracking control problem for networked uncertain nonlinear strict-feedback systems with unknown time-varying gains under a directed…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
This paper studies a distributed state estimation problem for both continuous- and discrete-time linear systems. A simply structured distributed estimator (comprising interconnected local estimators) is first described for estimating the…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…